6-1

6

Root-Locus Analysis
6.1

(Closed-loop poles) (Loop
gain)
(s plane)

K
(Compensator) (
7)
(Characteristic equation)
(Degree) 3
( MATLAB )
(Transfer
function)

W.R. Evans
(Root-locus method)



(Infinity)

/ (Zeros)

MATLAB
MATLAB


 6-2

K
(Damping ratio) (Dominant closed-loop poles)

6.2
s
-1

R(s ) + E (s ) G (s ) C (s )
-

H (s )

6.1

6.1

C (s)

G (s)
(6.1)
R (s) 1 G (s)H (s)

(6.1)

1 G (s)H (s) 0

G (s)H (s) 1 (6.2)

G ( s ) H ( s ) s G ( s ) H ( s )
(6.2) 2

G ( s ) H ( s ) 180 2 k 1 k 0 , 1 , 2 ,

(6.3)

 6-3

G (s)H (s) 1 (6.4)

()

G ( s ) H ( s ) K

z(s) K ( s z )( s z ) ( s z )
1 K 1
1
0
2
(7.5)
m

p(s) ( s p 1 )( s p 2 ) ( s p n )

z , z , , z (Zeros) p , p , , p (Poles)
1 2 m 1 2 n

G ( s ) H ( s )
s G(s)H(s)

K ( s z1 )
G (s)H (s)
( s p 1 )( s p 2 )( s p 3 )( s p 4 )

p2 p3 G(s)H(s)

G ( s ) H ( s ) 1 1 2 3 4

1
, 1, 2 , 3 6.2 () ()
4
 6-4

() ()
6.2 () () s

G (s)H (s)

KB
G (s)H (s) 1

A1 A 2 A 3 A 4

B 1 ( s p 1 ) , ( s p ) , ( s p ) ,
A1 , A 2 , A 3 , A 4 2 3

( s p ) ( s z ) 6.2 ()
4 1

(Real axis)

6.1 6.3 ( K )

K
G (s) , H (s) 1
s ( s 1 )( s 2 )

K
(Damping ratio) (Dominant complex-conjugate
closed-loop poles) 0 . 5
 6-5

R(s ) + K C (s )
-
s( s 1)( s 2 )

6.3

K
G (s)
s s 1 s 2

s s 1 s 2

180 ( 2 k 1) ( k 0 , 1, 2 , )

K
G (s) 1
s ( s 1 )( s 2 )

(1)
s 0 , s 1 s 2 (
) ( ) (
) ( K
= 0) 3

s
-

s s 1 s 2 0

- 0 -1

s 180 , s 1 s 2 0

s s 1 s 2 180

0 -1

 6-6

- -1 -2

s s 1 180 , s 2 0

s s 1 s 2 360

-1 -2

- -2

0 -1 -2
-
(2) (Asymptote)
s
- s

K K
lim G ( s ) lim lim 3
s s s ( s 1 )( s 2 ) s s

3 s 1 8 0 ( 2 k 1) ( k 0 , 1, 2 , )

1 8 0 ( 2 k 1)
( k 0 , 1, 2 , )
3
k
6 0 , 6 0 1 8 0 3 1 8 0

K
G (s)
s ( s 1 )( s 2 )

G (s)

K
G (s) 3 2
s 3s

s
 6-7

K
G (s) (6.5)
( s 1)
3

G(s) (6.5)

K
1 8 0 ( 2 k 1)
( s 1)
3

3 ( s 1) 1 8 0 ( 2 k 1)

( s 1) 6 0 ( 2 k 1)

s j
( j 1) 6 0 ( 2 k 1)

1
ta n 6 0 , 6 0 , 0
1
Tangent

3, 3, 0
1

1 0, 1 0, 0
3 3

6.4
s = -1
(6.5)
s
 6-8

6.4

(3) (Breakaway point)

0
-1 ( K )
(s plane) (Multiple roots)

f ( s ) B ( s ) KA ( s ) 0 (6.6)

A(s) B ( s ) K f (s) 0

df ( s )
0
ds

f (s) r r
f ( s )
r
f ( s ) ( s s1 ) ( s s 2 ) ( s s n )
 6-9

s s s1

df ( s )
0 (6.7)
ds s s1

f (s) (6.7) (6.6)

df (s)
B '( s ) K A '( s ) 0 (6.8)
ds

dA(s) dB (s)
A '( s ) , B '( s )
ds ds

K (6.8)

'
B (s)
K '
A (s)
K (6.6)
B '( s )
f (s) B (s) A(s) 0
A '( s )

B ( s ) A '( s ) B '( s ) A ( s ) 0 (6.9)

(6.9) s (6.6)

B(s)
K
A(s)

dK B '( s ) A ( s ) B ( s ) A '( s )
2
ds A (s)

dK ds (6.9)

dK
0
ds
 6-10

(6.9) dK ds 0
dK ds 0
(Breakaway point) (Break-in point)
dK ds 0 K (Breakaway point)
(Break-in point)
G ( s ) 1 0

K
1 0
s ( s 1 )( s 2 )

K (s 3s 2s)
3 2

dK ds 0
dK
(3 s 6 s 2 ) 0
2

ds

s 0 .4 2 2 6 , s 1 .5 7 7 4

0 -1
s 0 . 4226 s 1 . 5774
K s 0 . 4226 s 1 . 5774
K 0 .3 8 4 9 s 0 .4 2 2 6
K 0 .3 8 4 9 s 1 .5 7 7 4

(4)
(Rouths stability criterion)

s 3s 2s K 0
3 2

(Routh array)
3
s 1 2
2
s 3 K

1 6 K
s
3
0
s K
 6-11

K s K = 6
1

(Auxiliary equation) s 2

3s K 3s 6 0
2 2

s j 2

2 K 6
s j
K
s j
( j ) 3 ( j ) 2 ( j ) K 0
3 2

( K 3 ) j ( 2 ) 0
2 3

K 3 0, 2 0
2 3

2, K 6 0, K 0

2 K 6
0

(5) (j)
6.5
1 8 0
1 2 3

(
)

 6-12

6.5
(6)
6.6

6.6

(7) (Pair of dominant complex-

conjugate closed-loop poles) (Damping ratio) 0.5
 6-13

= 0.5
cos
1
cos
1
0 .5 6 0 6.6 = 0.5

s 1 0 .3 3 3 7 j 0 .5 7 8 0 , s 2 0 .3 3 3 7 j 0 .5 7 8 0

K (Magnitude condition)

K s ( s 1)( s 2 )
s 0 .3 3 3 7 j 0 .5 7 8 0

1 .0 3 8 3

s 2 .3 3 2 6
4 K 6 s 2
K (Oscillation) K 6

K
s,
s + 1 s + 2 ( 6.5) K

s s 1 s 2 K

6.2 6.7

6.7

(Complex-
conjugate open-loop poles)
6.7

K (s 2)
G (s) H (s) 1
s 2s 3
2

K 0
 6-14

s 1 j 2 s 1 j 2

(1)
s 3 6 0
6.8

-2
( s 2 s )

-2 -
2 1 1

6.8

(2) (Angle of departure) (Complex-

conjugate open-loop poles)

6.9
s p s p s z
1 2 1

,
'
1 1
'
2

1 8 0 ( 2 k 1) k 0 , 1, 2 ,

1 ( 1 2 ) 1 8 0 ( 2 k 1)
' '
 6-15

1 180 2 1 180 2 1
' '

1 180 2 1 180 90 55 145

s p2
145

6.9

(3) (Break-in point)

2 K

s 2s 3
2

K
s 2

( 2 s 2 )( s 2 ) ( s 2 s 3)
2
dK
0
(s 2)
2
ds

s 4s 1 0
2

s 3 .7 3 2 0 s 0 .2 6 8 0
s 3 .7 3 2 0 ( s 3 .7 3 2 0
K 5 .4 6 4 1 ) s 0 .2 6 8 0
( s 0 .2 6 8 0 K 1 .4 6 4 1 )
 6-16

(4)

(Break-in point) 6.10

6.10

K
MATLAB K
(Damping ratio) 0 .7
6.10 K

(s 1 j 2 )( s 1 j 2)
K 1 .3 4
s 2
s 1 .6 7 j 1 .7 0

MATLAB K ( 6.4)


2 1 2 2
1 2

 6-17

(s 2) (s 1 j 2 ) (s 1 j 2 ) 1 8 0 ( 2 k 1)

s j

( 2 j ) ( 1 j j 2 ) ( 1 j j 2 ) 1 8 0 ( 2 k 1)

1 1
2 1
2
ta n ta n ta n 1 8 0 ( 2 k 1)
2 1 1

1
2 1
2 1
ta n ta n ta n 1 8 0 ( 2 k 1)
1 1 2

Tangent

ta n x ta n y
x y
1
ta n
1 ta n x ta n y

(6.10)

2 2
1 1 1
ta n ta n ta n ta n ta n 1 8 0 ( 2 k 1)
1 1 2

2 2
0
1 1
2
2 2
1 1 0
2
1 1

2 ( 1)

( 1) ( 2) 2
2 2

( 2 ) 3 0
2 2

 6-18

0 ( 2 )
2 2
( 3)
2

0 s 2 s
K 0 K (
K )
2 , 0 3
K 0
K

6.3



(Angle of Departure) (Angle of Arrival)

6.3.1
6.11

6.11

1 G (s)H (s) 0

 6-19

K ( s z1 ) ( s z 2 ) (s zm )
1 0 (6.11)
( s p1 ) ( s p 2 ) (s pn )

K K 0


(1) G ( s ) H ( s )
( )

( G ( s ) H ( s ) G(s)
H(s))

m n m (n m
)

G ( s ) H ( s )
G(s)H(s) K

(2)

3 6 0



(3) s

s

1 8 0 ( 2 k 1)
k 0 , 1, 2 ,
n m

n = G (s)H (s)
 6-20

m = G (s)H (s)

k = 0 k
k n - m

(Numerator) (Denominator)
m 1
( z1 z 2 zm )s z1 z 2
m
K [s zm ]
G (s)H (s) n 1
s ( p1 p 2 pn )s p1 p 2
n
pn

G (s)H (s)

K
G (s)H (s) nm n m 1
s [( p 1 p 2 p n ) ( z 1 z 2 z m )] s

K
G (s)H (s) nm
( p1 p 2 p n ) ( z1 z 2 zm )
s
nm

(6.12)

(6.12) s

( p1 p 2 p n ) ( z1 z 2 zm )
s (6.13)
nm

( 6.1 (6.13) )

s 1

(4) (Breakaway point) (Break-in point)

( - )
 6-21

( )


B (s) K A(s) 0

6.1

B (s) A(s) B (s) A (s)

' '
dK
2
0 (6.14)
ds A (s)

s
(6.14) (6.14)
(6.14)
(6.14)

(5) () (
)


()
() (
) 1 8 0
() ()

(Angle of departure from a complex pole) = 1 8 0

- ()
+ ()

(Angle of arrival at a complex zero) = 1 8 0

- ()
+ ()
6.12
 6-22

6.12 ( = 180 - (1 + 2) + )

(6)
j ()
(Rouths stability criterion) () s j
K
K

(7)
j
j

( MATLAB
)
(8) K

K (
K )
K s

p r o d u c t o f le n g th s b e tw e e n p o in t s to p o le s
K
p r o d u c t o f le n g th s b e tw e e n p o in t s to z e r o s

K
K
MATLAB
 6-23

6.13

6.13

6.1


K

 6-24

6.1